EP2689211B1 - Verfahren zur aktualisierung eines orientierungswertes bezüglich nord oder zur verbesserung der initialisierung eines solchen wertes in einer vorrichtung mit einem bildsensor - Google Patents

Verfahren zur aktualisierung eines orientierungswertes bezüglich nord oder zur verbesserung der initialisierung eines solchen wertes in einer vorrichtung mit einem bildsensor Download PDF

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Publication number
EP2689211B1
EP2689211B1 EP12709630.3A EP12709630A EP2689211B1 EP 2689211 B1 EP2689211 B1 EP 2689211B1 EP 12709630 A EP12709630 A EP 12709630A EP 2689211 B1 EP2689211 B1 EP 2689211B1
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Prior art keywords
images
offset
image sensor
north
image
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English (en)
French (fr)
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EP2689211A1 (de
Inventor
Georges-Olivier Reymond
Hervé LAMARRE
Lionel Rosellini
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Safran Electronics and Defense SAS
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Safran Electronics and Defense SAS
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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
    • G01C17/38—Testing, calibrating, or compensating of compasses
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices

Definitions

  • the invention relates to the initialization and updating of an orientation information of a device relative to the geographical North.
  • the identification of the North with a gyro searcher is based on a process of measuring the component of the Earth's rotation vector in a horizontal plane, that is, tangent to the earth at the location where the device is installed. this component being directed to the geographic north.
  • Such means can be used with infantry binoculars: the North searcher and the binoculars rigidly attached to each other and connected to each other are carried by a tripod, which makes it possible to determine the course. of a target.
  • knowledge of the geographic North orientation that is, knowledge of the binoculars orientation relative to the geographic North, is the target heading.
  • the desired angular precision is of the order of milli radian.
  • the possible parasitic movements that is to say the movements of the gyrometer with respect to the ground such as for example the depression of the tripod, are likely to distort the measurement made by the gyrometer during the initialization process of the d-value. orientation of the twin compared to the geographic North.
  • a precision accelerometer is also provided.
  • This accelerometer makes it possible to identify the parasitic movements in order to discriminate them so that they do not distort the measurement of the rotation of the earth made by the gyrometer, as described for example in the document US 2005/022402 A1 .
  • a limitation of known Nordic researchers lies in the fact that the initialization phase of the value of the North orientation is carried out on an ad hoc basis, so that if the binocular is moved after this initialization, the information North orientation she uses is wrong.
  • the document JP 2009 074859 A discloses a method of initializing the orientation of a system comprising an image sensor and a North searcher, wherein the offset between two successive images, derived from the image sensor, is determined in order to estimate a motion angular, which can be compared to the angular movement determined by the North researcher.
  • the object of the invention is to propose a solution making it possible to carry out at a lower cost the initialization and / or the updating of the geographical North with a satisfactory accuracy.
  • the subject of the invention is a method for initialising, in a system comprising an image sensor oriented towards the horizon and a North searcher of the gyroscopic or gyrometric type rigidly secured to the image sensor, a representative value.
  • the image sensor that is necessarily part of the system used is used to provide information representative of the movements of the system relative to the ground, so that the accelerometer sensor usually used to provide this information is no longer necessary.
  • the invention also relates to a method as defined above, in which the determination of the offset of the two images is provided by an image processing of the type used for the image stabilization, in which the two images are compared so overall to determine the offset of these two images.
  • the invention also relates to a method as defined above, in which the determination of the offset of the two images is ensured by identifying the same object in these two images, by determining the position of this object in each of these images, and determining the difference of the positions thus determined.
  • the invention also relates to a method as defined above, in which the images whose offset is determined are two images representative of the scene seen by the image sensor at two distinct times, so that this offset is representative of the movements of the digital image sensor in relation to the ground.
  • the invention also relates to a method as defined above, in which the two images whose offset is determined are on the one hand an intermediate image corresponding to an image of the scene seen by the image sensor at a first moment. and shifted by a value corresponding to the movement measured by the North searcher during the interval separating the first instant from the second instant, and an image corresponding to the scene seen by the image sensor at the second moment, so that this offset is representative of the movement of the earth seen from an inertial frame during the time interval between the first instant and the second instant.
  • the invention also relates to a method as defined above, wherein the initialization process uses an inertial central type north finder.
  • the invention also relates to a method as defined above, in which the inertial unit is based on microelectromechanical system (MEMS) type components.
  • MEMS microelectromechanical system
  • the idea underlying the invention is to associate a digital image sensor with a gyrometer by rigidly securing them to each other, in order to measure the movements of the system relative to the ground by comparing the images. from the digital image sensor.
  • the North researcher who has a gyrometer incorporating associated calculation means is mounted on a tripod supporting a digital image sensor such as a digital binocular.
  • the gyro is connected to this binocular, for example by a data cable, to exchange data with this binocular.
  • the twin is rigidly attached to the researcher from North, so that when she turns around from a vertical axis, the North seeker turns with it, and it is oriented substantially towards the horizon.
  • the gyrometer and the computing means measure the movements of the gyrometer to determine the component of the earth's rotation vector in a plane tangent to the earth at the location where is installed the set.
  • This process allows the apparatus to determine the orientation of the geographic North, that is to say to initialize a value representative of the orientation of the North researcher with the twin to which it is rigidly secured, compared to Geographic North.
  • the movements undergone by the gyrometer comprise the movement of the earth at the location where the gyrometer is installed, and the possible movements of the gyrometer with respect to the ground, for example due to a depression of the tripod, and which constitute parasitic movements vis-à-vis the northern research.
  • the parasitic movements are discriminated, that is to say that they are evaluated and removed from the movements measured by the gyrometer. Measuring the rotation of the earth does not take into account these parasitic movements, but only the movement of the earth at the location of the system.
  • the parasitic movements are determined, during the process of determination of the North, by analyzing successive images from the digital binoculars to measure the spatial shift between two images acquired at a first instant and at a second instant different in order to to deduce the parasitic angular movement of the apparatus comprising the binoculars and the North searcher during the interval of time separating these two images.
  • the system comprises image analysis means making it possible, for example, to identify a remarkable object in a given image, this object having for example a relatively large contrast delimiting a contour of shape that can be identified in an automated and safe manner.
  • the detection of parasitic movements thus consists in identifying in a representative image of the scene seen by the image sensor, a remarkable element and in determining its position in this first image, then in identifying this same element in a second, posterior image and it is also representative of the scene seen by the sensor, to determine its position in this other image.
  • the difference in position corresponds to the spatial shift of the two images.
  • This offset corresponds for example to a certain number of pixels, given that, given the resolution of the digital image sensor equipping the binocular, a displacement of an object in the image over a distance of one pixel corresponds to an angular value. predetermined rotation of the binoculars.
  • the knowledge of the offset of the two images makes it possible to very simply determine the corresponding rotational movement of the binocular, so that it is discriminated in the process of measuring the rotation of the earth to initialize the value. representative of the orientation of the apparatus relative to the geographic North.
  • the knowledge of the time separating the instants at which the two analyzed images were acquired makes it possible to determine in a simple manner the rotational speed of the binocular with respect to the ground, so that it is discriminated in the process of measuring rotation. of the earth.
  • the shift of the images is advantageously counted along a vertical axis of the images, which corresponds to a rotation of the binocular about a horizontal axis oriented transversely to the direction of sight, which is likely to greatly disturb the measurement of the axis of rotation of the earth, that is, the initialization of the geographic North.
  • the image analysis processing used to determine the spatial shift of the image can also be a global type processing, that is to say in which the shift of two images is identified by comparing them globally instead of searching in these images a particular element that they both include.
  • Such a treatment is relatively close to the known treatments in the field of digital image stabilization, where it is also sought to know the spatial shift of two acquired images in order to readjust the displayed image.
  • the accuracy in the evaluation of the spatial shift of two images can reach 1 / 100th of a pixel, and the resolution of the digital image sensor equipping the binoculars can be such that the angle of rotation corresponding to a distance of one pixel in the image is 140 micro radians.
  • the detection accuracy of parasitic movements is of the order of 1.4 micro radians, which is much lower than the precision sought for the initialization of the North, which is it of the order of milli radian.
  • Time-separated images of 10 seconds can thus detect a movement as weak as 0.14 micro radians / second, which is nearly 1000 times less than the terrestrial rotation (10 degrees per hour in our latitudes, or 50 micro radians per second ), precision sought for the initialization of the North to a precision of the order of milli radian.
  • a first image is acquired, and the gyrometer measures the movements it undergoes during a predetermined time interval, which then comprise the rotation of the earth and a possible parasitic movement of the system relative to the ground.
  • a new image is then acquired.
  • a process is then applied to the first image to form an intermediate image that corresponds to the first image displaced by a value corresponding to the movements measured by the gyro.
  • the intermediate image and the new image are then analyzed to determine their offset which then corresponds only to the rotation of the earth.
  • the intermediate image is shifted with respect to the first image by a value corresponding to the rotational movement of the earth plus parasitic movement, whereas the new image is shifted with respect to the first one by an amplitude that corresponds only to parasitic movement. Therefore, the distance between the intermediate image and the new image corresponds only to the rotational movement of the earth.
  • the rotational movement of the earth freed from a possible parasitic movement is determined from the offset of the intermediate image and the new image.
  • This has the advantage of eliminating parasitic movements of great amplitude.
  • the image processing then works only on the small displacements induced by the terrestrial rotation, which makes it possible to make it more precise.
  • the twin with the North researcher rigidly attached to it can be held at arm's length during the initialization of the geographical North.
  • the binocular is equipped with a horizontality sensor, compelling the user to maintain substantially horizontal, that is, oriented towards the horizon.
  • the binocular further comprises a sensor determining its inclination relative to the horizontal.
  • a sensor determining its inclination relative to the horizontal.
  • the horizontality sensor used can be a low-cost sensor of the MEMS type, that is to say Micro- Electro-Mechanical-System.
  • the operation of a digital image sensor makes it possible to advantageously replace a precision accelerometer to determine the parasitic movements, namely the movements of the system relative to the ground during the initialization process of the geographic North. .
  • a digital sensor can also be used to update binocular information representative of the orientation of this binocular relative to the North when the binocular is moved using it after the Northern determination process has been completed.
  • the movements of the binoculars on its tripod can similarly be measured by analyzing and comparing the images from the digital sensor equipping the binoculars.
  • the image processing can be of the same type as that described above, being based on the recognition of a remarkable object in the image and the identification of its position in the successive images, so as to determine, from the movement of this object in the images, the angle or angles of rotation of the binoculars. It may also be a global treatment, of the type corresponding to the treatments used in image stabilization.
  • the user of the binoculars can then rotate, for example around a vertical axis to scan his environment, while enjoying in this binoculars valuable information about its orientation relative to the North.
  • this information can be presented to the user in the form of a heading display corresponding to the current orientation of the binoculars, this heading being corrected correctly as the binocular is rotated on its tripod. .
  • the error on a series of N images is, in micro radians, 3 times the square root of N.
  • the North orientation information can be updated and conserved validly with an accuracy of one milli radian for a duration greater than one hour.
  • a reference image can be stored in the binocular in association with the corresponding orientation.
  • the image received by the image sensor can be compared with the reference image, which then enables the orientation of the binocular to be readjusted, for example compensate a drift of the calculated orientation in the binoculars.
  • the binocular is not necessarily carried by a tripod: it can be held at arm's length during the initialization of the North, but also afterwards. In this case, the value representative of the orientation of the binocular with respect to the North is then updated on the basis of image analysis.
  • the binoculars with a three-axis gyrometer, or even an inertial unit, at low cost, for example type MEMS for example to take over when the image analysis is insufficient, for example because the scene displayed by the digital image sensor is not sufficiently contrasted, or when the movements that the user applies to the twin are too important.
  • a three-axis gyrometer or even an inertial unit
  • type MEMS for example to take over when the image analysis is insufficient, for example because the scene displayed by the digital image sensor is not sufficiently contrasted, or when the movements that the user applies to the twin are too important.
  • the MEMS sensor measures directly and autonomously all the rotations of the binocular, so as to be able to provide binocular orientation variation information in situations where it can not be produced by the analysis. images.
  • the MEMS central inertial sensor also measures the lateral movements of the binocular to take into account the possible effects of parallax.
  • the three-axis MEMS gyrometric sensors have a low cost, to the detriment of a large drift: the angular displacement information they provide can only be considered valid for a period of a few seconds, taking into account the precision sought in this application.
  • such a system can also be used to equip a vehicle: the North is then identified when the vehicle stops, then it is maintained, that is to say, updated, thanks to images acquired by the image sensor during the movement of the vehicle.
  • the image processing can consist in detecting the rotations as indicated above, by comparison of successive images, but it can also be provided from two image sensors oriented on either side of the image. direction of the vehicle to measure the scroll of the landscape by comparison of successive images.
  • such a system is combined with a trajectory analysis, based on data from a GPS and / or an MEMS technology inertial unit, so as to reset the North when the vehicle has a simple trajectory.
  • the North can then be reasonably conserved for a period of one hour, without the need for resetting, that is, without the need to execute the process of determining the North from the gyrometer.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Navigation (AREA)
  • Gyroscopes (AREA)

Claims (7)

  1. Verfahren zum Initialisieren eines Wertes in einem System, das einen Bildsensor umfasst, der zum Horizont gerichtet ist, sowie einen Nordsucher vom gyroskopischen oder gyrometrischen Typ, der starr mit dem Bildsensor verbunden ist, wobei der Wert repräsentativ für die Ausrichtung des Systems in Bezug auf Nord ist, wobei das System Verarbeitungsmittel umfasst, die das Verfahren ausführen, welches den Schritt umfasst:
    - Bestimmen des Versatzes zweier Bilder, die aus dem digitalen Bildsensor zu einem ersten Zeitpunkt und zu einem zweiten Zeitpunkt, die unterschiedlich sind, stammen, um eine Information zu bilden, die repräsentativ für eine Winkelbewegung ist,
    dadurch gekennzeichnet, dass es ferner den Schritt umfasst:
    - Unterscheiden der Bewegungen des Systems in Bezug auf den Boden von Bewegungen des Systems, die auf die Drehung der Erde zurückzuführen sind, anhand dieser Winkelbewegungsinformation.
  2. Verfahren nach Anspruch 1, bei dem die Bestimmung des Versatzes der beiden Bilder durch eine Bildverarbeitung der Art sichergestellt wird, die zur Bildstabilisierung verwendet wird, bei der die beiden Bilder auf globale Weise verglichen werden, um den Versatz dieser beiden Bilder zu bestimmen.
  3. Verfahren nach Anspruch 1, bei dem die Bestimmung des Versatzes der beiden Bilder dadurch sichergestellt wird, dass ein selbes Objekt in diesen beiden Bildern identifiziert wird, indem die Position dieses Objektes in jedem dieser Bilder bestimmt wird und indem der Unterschied der so bestimmten Positionen bestimmt wird.
  4. Verfahren nach Anspruch 1, bei dem die Bilder, deren Versatz bestimmt wird, zwei Bilder sind, die repräsentativ für die Szene sind, die von dem Bildsensor zu zwei unterschiedlichen Zeitpunkten gesehen werden, damit dieser Versatz repräsentativ für Bewegungen des digitalen Bildsensors in Bezug auf den Boden ist.
  5. Verfahren nach Anspruch 1, bei dem die beiden Bilder, deren Versatz bestimmt wird, einerseits ein Zwischenbild, das einem Bild der Szene entspricht, die von dem Bildsensor zu einem ersten Zeitpunkt gesehen wird, versetzt um einen Wert, der der von dem Nordsucher gemessenen Bewegung während eines Intervalls entspricht, das den ersten Zeitpunkt von dem zweiten Zeitpunkt trennt, sowie ein Bild sind, das der Szene entspricht, die von dem Bildsensor zum zweiten Zeitpunkt gesehen wird, damit dieser Versatz repräsentativ für die Bewegung der Erde ist, die von einem inertialen Bezugssystem während des Zeitinteralls, das den ersten Zeitpunkt von dem zweiten Zeitpunkt trennt, gesehen wird.
  6. Verfahren nach einem der Ansprüche 1 bis 5, bei dem der Initialisierungsprozess einen Nordsucher mit einer inertialen Messeinheit verwendet.
  7. Verfahren nach Anspruch 6, bei dem die inertiale Messeinheit auf Komponenten der Art elektromechanische Mikrosysteme (MEMS) basiert.
EP12709630.3A 2011-03-21 2012-03-16 Verfahren zur aktualisierung eines orientierungswertes bezüglich nord oder zur verbesserung der initialisierung eines solchen wertes in einer vorrichtung mit einem bildsensor Active EP2689211B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1100855A FR2973108B1 (fr) 2011-03-21 2011-03-21 Procede pour actualiser une valeur d'orientation par rapport au nord ou pour ameliorer l'initialisation d'une telle valeur dans un appareil comprenant un capteur d'image
PCT/EP2012/054727 WO2012126857A1 (fr) 2011-03-21 2012-03-16 Procede pour actualiser une valeur d'orientation par rapport au nord ou pour ameliorer l'initialisation d'une telle valeur dans un appareil comprenant un capteur d'image

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EP2689211A1 EP2689211A1 (de) 2014-01-29
EP2689211B1 true EP2689211B1 (de) 2018-08-15

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US (1) US9396550B2 (de)
EP (1) EP2689211B1 (de)
FR (1) FR2973108B1 (de)
IL (1) IL228487B (de)
WO (1) WO2012126857A1 (de)

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US10724871B2 (en) 2016-11-03 2020-07-28 The Charles Stark Draper Laboratory, Inc. Camera-based heading-hold navigation
CN111854800B (zh) * 2020-07-27 2023-12-01 西安航光仪器厂 陀螺寻北仪常数自标定及漂移量检测装置及其检测方法

Citations (1)

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US20050022402A1 (en) * 2003-08-01 2005-02-03 Ash Michael E. Compact navigation system and method

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Also Published As

Publication number Publication date
WO2012126857A1 (fr) 2012-09-27
IL228487A0 (en) 2013-12-31
IL228487B (en) 2018-11-29
US9396550B2 (en) 2016-07-19
FR2973108B1 (fr) 2019-06-28
US20140010413A1 (en) 2014-01-09
EP2689211A1 (de) 2014-01-29
FR2973108A1 (fr) 2012-09-28

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